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User Manual
Text
( Rev.08.06.15)
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2 1. Safety Pre-cautions
- Table of Contents -
1. Safety Pre-cautions ................................ ................... 5
2. Specifications of the Drive ................................ ........... 8
2.1 Characteristic Table ................................ ............................ 8
2.2 Dimensions ................................ ................................ ......10
3. Specifications of the Motor ................................ .......... 11
3.1 EzM-20 Series ................................ ................................ ...11
3.2 EzM-28 Series ................................ ................................ ...12
3.3 EzM-42 Series ................................ ................................ ...13
3.4 EzM-56 Series ................................ ................................ ...14
3.5 EzM-60 Series ................................ ................................ ...15
3.6 EzM-86 Series ................................ ................................ ...16
4. Characteristics of Motor Torque ................................ ...... 17
5. Configuration of the Controller ................................ ...... 19
5.1 Combination of Motor and Drive ................................ ..................19
5.2 Controller Configurtion ................................ ......................... 22
5.3 External Wiring Diagram ................................ ......................... 24
6. External Name and Function Setting of Ezi -SERVO-PR .................... 27
6.1 Appearance and Part Name ................................ ........................27
6.2 Status Display LED ................................ .............................. 28
6.3 Drive ID Switch Selection ( SW1) ................................ .................28
6.4 Communication Speed and Terminal Resistance Select Switch(SW2) ...................28
6.5 Motor Connection (CN3) ................................ .......................... 29
6.6 Encoder Connection (CN2) ................................ ........................29
6.7 Power Connection(CN4) ................................ ........................... 29
6.8 I/O Signal Connection (CN1) ................................ .....................29
6.9 Communication Connecttion (CN5) ................................ .................30
7. External Name and Function Setting of Ezi -SERVO-PR-MIR ................ 31
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3 1. Safety Pre-cautions
7.1 Appearance and Part Name ................................ ........................31
7.2 Drive ID Switch Selection (SW1) and 7 -segmant ................................ ....31
7.3 Communication Speed and Terminal Resistance Select Switch(SW2) ...................31
7.4 Motor Connection (CN3) ................................ .......................... 32
7.5 Encoder Connection (CN2) ................................ ........................32
7.6 Power Connection(CN4) ................................ ........................... 32
7.7 I/O Signal Connection (CN1) ................................ .....................33
7.8 Communication Connecttion (CN5) ................................ .................33
8. Control I/O Signal ................................ ................... 34
8.1 Signal Cabling ................................ ................................ ..34
8.2 Connection Circuit ................................ .............................. 35
8.3 Input Signal ................................ ................................ ....37
8.4 Output Signal ................................ ................................ ...45
9. Operation ................................ ........................... 49
9.1 Power Supply Timing ................................ ............................. 49
9.2 Servo ON Operation ................................ .............................. 49
9.3 Operation Mode ................................ ................................ ..49
10. Other Operation Functions ................................ ........... 51
10.1 Position Table(PT) Operation Example ................................ ............51
10.2 Jog Operation Example ................................ .......................... 51
10.3 Origin Return ................................ ................................ ..52
10.4 Stop Operation ................................ ................................ .55
10.5 Trigger Pulse Output ................................ ........................... 55
10.6 Push Motion ................................ ................................ ....56
11. Communication Function ................................ .............. 60
11.1 Connection with the PC ................................ ......................... 60
11.2 Communication Interface Circuit ................................ ................62
12. Protective Function ................................ ................. 63
12.1 Alarm Type ................................ ................................ .....63
12.2 Acquiring Alarm Information ................................ ....................63
12.3 Alarm Release ................................ ................................ ..64
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4 1. Safety Pre-cautions
13. Parameter ................................ .......................... 65
13.1 Parameter List ................................ ................................ .65
13.2 Encoder Setup ................................ ................................ ..65
13.3 Parameter Description ................................ .......................... 67
Appendix ................................ ............................... 72
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5 1. Safety Pre-cautions
1. Safety Pre-cautions
Manual Version ; [ver08.06.15] Provided Firmware version : 6.3.063.47 ~ Provided GUI version : 6.24.3.626 ~ Fisrt Edition : Oct 02, 2008 Revised Edition : June 20, 2013
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6 1. Safety Pre-cautions
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7 1. Safety Pre-cautions
Notes on Installation 1) This product has been designed for indoor uses. The ambient temperature of the room
should be 0℃~55℃. 2) If the temperature of the case is 50℃ or higher, radiate heat out side to cool down. 3) Do not install this product under direct rays or near magnetic or radioactive
objects. 4) If more than 2 drives are installed in a line, keep the interval of 20mm or more
vertically and 50mm or more horizontally at least.
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8 2. Specifications of the Drive
2. Specifications of the Drive
2.1 Characteristic Table
1) Ezi-SERVO-PR
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9 2. Specifications of the Drive
2) Ezi-SERVO-PR-MI
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10 2. Specifications of the Drive
2.2 Dimensions
1) Ezi-SERVO-PR
2) Ezi-SERVO-PR-MI
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11 3. Specifications of the Motor
3. Specifications of the Motor
3.1 EzM-20 Series
1) Specifications
2) Dimensions
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12 3. Specifications of the Motor
3.2 EzM-28 Series
1) Specifications
2) Dimensions
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13 3. Specifications of the Motor
3.3 EzM-42 Series
1) Specifications
2) Dimensions
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14 3. Specifications of the Motor
3.4 EzM-56 Series
Ezi-SERVO-PR drive only.
1) Specifications
2) Dimensions
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15 3. Specifications of the Motor
3.5 EzM-60 Series
Ezi-SERVO-PR drive only.
1) Specifications
2) Dimensions
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16 3. Specifications of the Motor
3.6 EzM-86 Series
Ezi-SERVO-PR drive only.
1) Specifications
2) Dimensions
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17 4. Characteristics of Motor Torque
4. Characteristics of Motor Torque
EzM-56 series :Ezi-SERVO-PR drive only. EzM-60 series :Ezi-SERVO-PR drive only.
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18 4. Characteristics of Motor Torque
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19 5. Configuration of the Controller
5. Configuration of the Controller
5.1 Combination of Motor and Drive
1) Ezi-SERVO-PR 2) Ezi-SERVO-PR-MI
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20 5. Configuration of the Controller
3) Combination of Ezi-SERVO-PR
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21 5. Configuration of the Controller
4) Combination of Ezi-SERVO-PR-MI
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22 5. Configuration of the Controller
5.2 Controller Configurtion
1) Configuration of Ezi-SERVO-PR20/ Ezi-SERVO-PR28/ Ezi-SERVO-PR42/ Ezi-SERVO-PR56/
Ezi-SERVO-PR60
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23 5. Configuration of the Controller
2) Configuration of Ezi-SERVO-PR86
3) Configuration of Ezi-SERVO-PR-MI
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24 5. Configuration of the Controller
5.3 External Wiring Diagram
1) Wiring of Ezi-SERVO-PR20/ Ezi-SERVO-PR28/ Ezi-SERVO-PR42/ Ezi-SERVO-PR56/
Ezi-SERVO-PR60
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25 5. Configuration of the Controller
2) Wiring of Ezi-SERVO-PR86
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26 5. Configuration of the Controller
2) Wiring of Ezi-SERVO-PR-MI
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27 6. External Name and Function Setting of Ezi-SERVO-PR
6. External Name and Function Setti ng of Ezi-SERVO-PR
6.1 Appearance and Part Name
1) Ezternal setting of Ezi-SERVO-PR20/ Ezi-SERVO-PR28/ Ezi-SERVO-PR42/ Ezi-SERVO-PR56/
Ezi-SERVO-PR60
2) Ezternal setting of Ezi-SERVO-PR86
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28 6. External Name and Function Setting of Ezi-SERVO-PR
6.2 Status Display LED
Display Color Function On/Off Condition
① POW Green Power input indication Lights On when power is applied.
② INP Yellow Complete Positioning
motion
When position command pulse input and then
the position deviation is within the value
set by the parameter, this lights On.
③ SON Orange Servo On/Off indication Servo On : light On
Servo Off : light Off
④ ALM Red Alarm indication
Flash when protective function is
activated.
(If you count LED flash time, you can check
what protective function is run.)
6.3 Drive ID Switch Selection (SW1)
1) When several modules are connected to one daisy chain network, this switch is to set intrinsic ID to each module.
2) The switch can set intrinsic ID to each module up to 16 numbers from 0 to F(15).
Position ID No. Position ID No.
0 0 8 8
1 1 9 9
2 2 A 10
3 3 B 11
4 4 C 12
5 5 D 13
6 6 E 14
7 7 F 15
6.4 Communication Speed and Terminal Resistance Select Switch (SW2)
SW2 is to set the communication speed between central controller (PC) and Drive. If
corresponding drive module is connected to the end of one ne twork segment, SW2 sets
whether terminal resistance is used. SW2.1 is to set the use of terminal resistance,
and SW2.2~SW2.4 is to set the communication speed as follows.
The communication speed of drive modules connected to one segment must
be set with same value.
Support max. 115200[bps] when using RS -232 to RS-485 conveter.
SW2.1 SW2.2 SW2.3 SW2.4 Baud rate
[bps] *1 : default setting value .
.
SW2.1 is OFF.: Terminal resistance is Off.
SW2.1 is ON. : Terminal resistance is On.
X OFF OFF OFF 9600
X ON OFF OFF 19200
X OFF ON OFF 38400
X ON ON OFF 57600
X OFF OFF ON 115200 *1
X ON OFF ON 230400
X OFF ON ON 460800
X ON ON ON 921600
Caution
Caution
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29 6. External Name and Function Setting of Ezi-SERVO-PR
6.5 Motor Connection (CN3)
Motor connector
(Connector Type : Molex 5569-04A2) (86mm)
No. Function 1 A Phase
2 B Phase
3 /A Phase
4 /B Phase
6.6 Encoder Connection (CN2)
Encoder connector (Connector Type : Molex 55959-1030)
No. Function 1 A+
2 A-
3 B+
4 B-
5 Z+
6 Z-
7 5VDC
8 5VDC GND
9 Frame GND
10 Frame GND
To setup connected encoder resolution, refer to 「13 Parameter」.
6.7 Power Connection(CN4)
Power supply connector (Connector Type : Molex 5569-02A2)
(86mm : PTR AK950-2 )
6.8 I/O Signal Connection (CN1)
Input/output signal connector ( Connector Type : 3M 10226-5A2JL)
The programmable input/output pin is set by using user program(GUI) or DLL library.
Connect the Brake (current consumption is under 200[mA]) for pin 24.
Refer to 8.4 Output signal for the Brake that is over 200[mA].
No. Function
1 /B Phase
2 B Phase
3 /A Phase
4 A Phase
No. Function
1 Power input : 24VDC ± 10%
2 Power input : GND
No. Function
1 Power input : GND
2 Power input : 40~70VDC
Caution
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30 6. External Name and Function Setting of Ezi-SERVO-PR
6.9 Communication Connecttion (CN5)
Connector Type : RJ45
Cable Type : UTP/STP CAT5E
Function No No Function
LIMIT+ (Dedicated Input) 1 14 Digital In2 ( Programmable Input)
LIMIT- (Dedicated Input) 2 15 Digital In3 ( Programmable Input)
ORIGIN (Dedicated Input) 3 16 Digital In4 ( Programmable Input)
Digital In1 (Programmable Input) 4 17 Digital In5 ( Programmable Input)
Digital In6 (Programmable Input) 5 18 Digital In8 ( Programmable Input)
Digital In7 (Programmable Input) 6 19 Digital In9 ( Programmable Input)
Compare Out/COMP (Dedicated Output) 7 20 Digital Out7 ( Programmable Output)
Digital Out1 (Programmable Output) 8 21 Digital Out8 ( Programmable Output)
Digital Out2 (Programmable Output) 9 22 Digital Out9 ( Programmable Output)
Digital Out3 (Programmable Output) 10 23 +24V for Brake system(Output)
Digital Out4 (Programmable Output) 11 24 Control signal of Brake system(Output)
Digital Out5 (Programmable Output) 12 25 GND external(Input)
Digital Out6 (Programmable Output) 13 26 +24V external(Input)
* This connector fixed pin is connected to frame GND through a mount hall.
Pin No. Function
1,2,4,5,7,8 GND
3 Data+
6 Data-
case Frame GND
LED No. Display Color Lighting Condition
1,3 RUN Green Flash when CPU in the drive operates
2,4 COMM Yellow Flash when this communicates with the
upper controller
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31 7. External Name and Function Setting of Ezi-SERVO-PR-MIR
7. External Name and Function Setting of Ezi -SERVO-PR-MIR
7.1 Appearance and Part Name
7.2 Drive ID Switch Selection (SW1) and 7-segmant
1) When several modules are connected to one daisy c hain network, this switch is to set intrinsic ID to each module.
2) The switch can set intrinsic ID to each module up to 16 numbers from 0 to F(15). 3) 7-segmant of status monitor is display the ID number in normal status, but in
alarm status it display the pr otection number by flash times.
Position ID No. Position ID No.
0 0 8 8
1 1 9 9
2 2 A 10
3 3 B 11
4 4 C 12
5 5 D 13
6 6 E 14
7 7 F 15
7.3 Communication Speed and Terminal Resistance Select Switch (SW2)
SW2 is to set the communication speed betwe en central controller(PC) and Drive. If
corresponding drive module is connected to the end of one network segment, SW2 sets
whether terminal resistance is used. SW2.1 is to set the use of terminal resistance,
and SW2.2~SW2.4 is to set the communication spe ed as follows.
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32 7. External Name and Function Setting of Ezi-SERVO-PR-MIR
The communication speed of drive modules connected to one segment must
be set with same value.
Support max. 115200[bps] when using RS -232 to RS-485 conveter
7.4 Motor Connection (CN3)
No. Function
1 B Phase
2 A Phase
3 /A Phase
4 /B Phase
7.5 Encoder Connection (CN2)
No. Function 1 A+
2 A-
3 B+
4 B-
5 Z+
6 Z-
7 5VDC
8 5VDC GND
9 Frame GND
10 Frame GND
To setup connected encoder resolution, refer to 「13 Parameter」.
7.6 Power Connection(CN4)
SW2.1 SW2.2 SW2.3 SW2.4 Baud rate
[bps] *1 : default setting value .
.
SW2.1 is OFF.: Terminal resistance is Off.
SW2.1 is ON. : Terminal resistance is On.
X OFF OFF OFF 9600
X ON OFF OFF 19200
X OFF ON OFF 38400
X ON ON OFF 57600
X OFF OFF ON 115200 *1
X ON OFF ON 230400
X OFF ON ON 460800
X ON ON ON 921600
No. Function
1 Power input : 24VDC ± 10%
2 Power input : GND
Caution
Caution
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33 7. External Name and Function Setting of Ezi-SERVO-PR-MIR
7.7 I/O Signal Connection (CN1)
No. Function Input/Output
1 24VDC Input
2 24VDC GND Input
3 BRAKE+ Output
4 BRAKE- Output
5 +Limit sensor Input
6 -Limit sensor Input
7 Origin sensor Input
8 Digital IN1 Input
9 Digital IN2 Input
10 Digital IN3 Input
11 Digital IN4 Input
12 Digital IN5 Input
13 Digital IN6 Input
14 Digital IN7 Input
15 Compare Out (COMP) Output
16 Digital OUT1 Output
The programmable input/output pin is set by using user program(GUI) or DLL library.
Connect the Brake (current consumption is under 200[mA]) for pin 24.
Refer to 8.4 Output signal for the Brake that is over 200[mA].
7.8 Communication Connecttion (CN5)
No. Function
1 Data+
2 Data-
3 GND
Caution
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34 8. Control I/O Signal
8. Control I/O Signal
8.1 Signal Cabling
All control I/O signals use connector CN1 as specified below.
1) Input : 「Limit+」, 「Limit-」, 「Origin」 signals are fixed to CN1 No. 1,2,3.
Other signals as like ‘Clear Pos’are assigned to IN1~IN9 terminal blocks.
(3 dedicated input + 9 programmable input = total 12 input pins.)
Ezi-SRERVO-PR : 3 dedicated In + 9 programmable In = 12 Inputs
Ezi-SRERVO-PR-MI : 3 dedicated In + 7 programmable In = 10 Inputs
Ezi-SERVO-PR CN1 No.
Ezi-SERVO-PR-MI
CN1 No.
Signal
Name Function
1 5 Limit+ Positive limit sensor signal
2 6 Limit- Negative limit sensor signal
3 7 Origin Origin sensor signal
4 8 IN1 Clear Pos Position table A0 ~ Position table A7 (PT A0~PT A7) Position table start execution (PT Start) Soft Stop(Stop) Jog+ Jog- AlarmReset ServoON Pause Origin Search Teaching Emergency Stop(E-Stop) Jump Position Table input 0 ~ Jump Position Table input 2 (JPT IN 0~ JPT IN 2) Jump Position Table start (JPT Start) User input 0 ~ User input 5 (User IN 0 ~ User IN 5)
14 9 IN2
15 10 IN3
16 11 IN4
17 12 IN5
5 13 IN6
6 14 IN7
18 None IN8
19 None IN9
2) Output : 「COMP」 signal is dedicated to CN1 No.7. Other signals like
Inposition are assigned to OUT1~OUT9 terminal blocks.
Ezi-SRERVO-PR : 1 dedicated Out + 9 programmable Out = 10 Outputs
Ezi-SRERVO-PR-MI : 1 dedicated Out + 1 programmable Out = 2 Outputs
Ezi-SERVO-PR CN1 No.
Ezi-SERVO-PR-MI CN1 No.
Signal
Name Function
7 15 COMP Specific output signal (Compare Out)
8 16 OUT1 InPosition Alarm
Moving
Acc/Dec
ACK
END
AlarmBlink
OriginSearchOK
ServoReady
Brake
Position Table output 0 ~ Position Table output 2
(PT OUT 0 ~ PT OUT 2)
User Output 0 ~ User Output 8
9 None OUT2
10 None OUT3
11 None OUT4
12 None OUT5
13 None OUT6
20 None OUT7
21 None OUT8
22 None OUT9
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35 8. Control I/O Signal
8.2 Connection Circuit
All drive I/O signals are insulated by a photocoupler. The signals display the
internal photocoupler status - [ON: Conduction] and [OFF: Non- Conduction], not the
signal voltage level.
1) Input Circuit Input circuit power of DC24V±10% (consumed current : about 5mA/circuit) should be
separately prepared.
l Connect NPN type Input signal Connect the ‘+24V external’signal of drive to ‘+24V’ of Controller .
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36 8. Control I/O Signal
l Connect PNP type Input signal Connect the ‘+24V external’signal of drive to ‘GND’ of Controller .
2) Output Circuit Output circuit power should be separately prepared. This may share input circuit
power. In this case, working power capacity should add output power capacity to
input power capacity.
Applied voltage and power capacity in the control output port are as follo ws.
·Applied voltage ≤ 30V
·Electrified current ≤ 15mA
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37 8. Control I/O Signal
8.3 Input Signal
1) ‘Limit’ Sensor and ‘Origin’ Sensor Limit sensor and origin sensor are assigned to LIMIT+, LIMIT- , and ORIGIN pin in
the CN1 connector respectively. LIMIT+ and LIMIT- sensors are used to limit the
motion of each axis clockwise and counterclockwise to prevent mechanical collision.
Origin sensor is to set the origin of equipment.
2) ‘Clear Pos’ Input This input signal sets the command position and the actual p osition to 0 in
relation to motion position control. The reset signal pulse scale is 10ms or more.
3) ‘Position Table A0 – A7 (PT A0~A7)’Input The position table supports the machine so that its motion can be controlled by
I/O signals of central controller. It can directly transmit commands such as
position table number, start/ stop and origin return to the machine through the PLC.
Also, the user can check output signals such as in-position, completion of origin
return and Servo ready through the PLC.
「Position Table A0~A7」 inputs are total 8 bits of input signal. It is used to
set 256 position table numbers. There are two application methods as follows.
* Ezi-SRERVO-PR-MI : maximum 64 position table numbers can be set.
1) To set position table numbe r(0~255) to be set by ‘PT start’ input signal.
2) To set position table number(0~255) to save current position values by
‘Teaching’ input signal.
By using PT A0~A7 signals, the position table address can be set from 0 to 255
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38 8. Control I/O Signal
with a binary number. A0 is least significant bit and A7 is most significant bit.
The following table shows how to assign position table number.
*1. Save signal cabling : If‘PT A0~A7’signal is not connected when motioning by
‘PT Start’signal, the position table number will be ‘0’
A7 A6 A5 ~ A3 A2 A1 A0 PT No.
0 0 0 0 0 0 0
0 0 0 0 0 1 1
0 0 0 0 1 0 2
0 0 0 0 1 1 3
… … … … … … … … … … … … … … … … … …
1 1 1 1 1 0 254
1 1 1 1 1 1 255
4) ‘Position Table Start (PT Start)’Input By using PT A0~A7 signals, set and input the running P T start number. Then the
motion pattern correspond s to the PT No. will be executed.
Following example shows that total 6 motion patter ns are in order executed from
No.0 to No.32 and then stopped.
1) All of PT A0~A7 is set to ‘0’ and PT number is set to ‘0’.
2) Set PT Start signal to [ON], and PT No.0 motion pattern will be executed.
3) When the motion pattern is started by PT, ACK signal and END signal are
displayed to [ON] at CN1 output port as illustrated below. The signal is kept
until one motion pattern loop is stopped. After all motions are stopped, the
output signal level is set to [OFF].
4) PT Start signal is edge trigger type and pulse scale is 10ms or more.
*1. Timing of signals : PT A0~A7 signals must be set before(50msec)
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39 8. Control I/O Signal
PT Start signal set to [ON].
*2. If the PT A0~A7 signals are not used and the PT Start signal set to [ON],
the PT No. 0 will be executed.
*3. Checking the ‘Moving’ and ‘Inposition’signals :
Between sequencial ‘PT Start’ motion command signal, the checking step
for motion status(Moving, Inposition) is needed before next motion command.
5) ‘Soft Stop’Input Soft stop input signal is to stop motion patter ns under operation. The
deceleration condition until they stop complies with the deceleration time value
and the start speed value set previously. The soft stop signal is active in ON
level and pulse scale is 10ms or more.
6) ‘Jog+’ and ‘Jog-‘Input When Jog+ or Jog- signal is ON, the motor rotates clockwise or counterclockwise
until it reaches the hardware limit or the software limit. Jog motion pattern is
subject to jog related parameters (No.7: start speed, No.6: speed, No.8: Acc Dec
time).
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40 8. Control I/O Signal
7) ‘Servo ON’ and ‘AlarmReset’Input When the protective function of drive executes, alarm output is released. When
AlarmReset input is set to ON, alarm output and alarm blink output are released.
Before releasing alarm output, the user must remove any cause of alarm operating.
When Servo ON/OFF signal is set to OFF, the drive stops supplying the current to
the motor and so the user can directly adjust the output position. When Servo
ON/OFF signal is set to ON, the drive restarts to supply the current to the mo tor
and its torque is recovered. Before operating the motor, the user must set it to
ON.
When the drive is set to Servo O N, CN1 connector’s ServoReady output signal is
set to ON.
If the ‘Servo ON’ signal is assigned to input pin, ServoON command
from GUI or DLL library will not executed.
*1. If ‘No.0: Pulse per Revolution’ in the parameter list is changed, the motor
is set to Servo OFF.
*2. After ‘ServoON’ signal is assigned to input pin, it is impossible to use
‘SERVO ON’ button in UserProgram(GUI).
*3. After ‘ServoON’ is executed, the ‘Command Position’value will change as
same as ‘Actual Position’value to remove ‘Position Error’.
8) ‘Pause’Input When Pause signal is set to ON, the motion in service is stopped. T here are two
Caution
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41 8. Control I/O Signal
pause signal operation modes as follows.
① Case A : When Pause signal is set to ON, the motor starts to decelerate. Pause
signal becomes OFF before the motor is completely stopped. To start motion,
Pause signal should be set to ON.
② Case B : When Pause signal is set to ON, the motor starts to decelerate. The
signal is continuously maintained since the motor is completely stopped. To
start motion, Pause signal should be set to OFF.
Pause signal pulse scale is 10ms or more.
*1. This function is not applied while ‘Repeat Test’ of the User Program(GUI) is
executing.
*2. This function is not applied while ‘Push Motion’ positioning.
9) ‘Origin Search’Input When ‘Origin Search’ signal is set to ON (10ms or more), it starts to search the
origin position according to selected conditions. The conditions are subject to
parameters such as No.20:Org Method, No.17:Org Speed, No.18:Org Search Speed,
No.19:Org AccDec Time, No.21:Org Dir. (For more information, refer to
‘13.Parameter’.) When the origin search command is completed, ‘Origin Search
OK’ signal is set to ON to CN1 connector’s output port.
10) ‘Teaching’Input Teaching signal functions that the position value[pulse] being working can be
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42 8. Control I/O Signal
automatically inputted into a ‘position’ value of a specific position table. If
it is hard to calculate the exact moving distance(position value) of specific
motion mechanically, the user can measure the distance(position value) easily by
using this signal.
1) By using User Program(GUI), set a command type of corresponding PT number among 4 kinds of absolute moving commands(Absolute Move).
2) By using input signal(PT A0~A7), select corresponding PT number. 3) When Teaching signal is set to ON, the position value[pulse] is save to the
position value of corresponding PT. At this time, it becomes the absolute
position value.
4) Teaching signal pulse scale is 10ms or more.
PT No. Position Value [pulse] of Corresponding PT 3 12010 4 15300 12 -12800 255 38520
* After executing Teaching, click ‘Refresh’ icon, and the position value will be displayed to the position table.
* Click ‘Save to ROM’ icon, and the position value will be saved to the ROM area.
* Teaching signal can be used by two methods; the user assigns act ual signal to the motor, or he clicks ‘Teaching’ icon at the ‘I/O Monitoring’ window of
User Program(GUI).
11) ‘E-Stop’Input When ‘Emergency stop’ signal is set to ON, the current motion is stopped
immediately without deceleration. E -Stop signal is active in ON level and pulse
scale is 10ms or more.
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43 8. Control I/O Signal
12) ‘JPT Input0~Input2 (Jump Position Table Input) ’Input Select motion pattern(position table number) to be subsequently executed according
to input signal conditions.
【Example】 If PT 14 motion operates, when there is no other input signal, next
motion becomes PT 15 as shown in Figure 1). However, if ‘JPT Input0~Input2’
input signal is set to ON while PT 14 is executing, each corresponding position
number is executed as shown in Figure 2)~4).
PT 14 Data
PT No. … JP Table No. JPT 0 JPT 1 JPT 2
14 … 15 115 116 225
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44 8. Control I/O Signal
13) ‘JPT(Jump Position Table) Start’Input To select motion pattern(position table number) to be subsequently executed
according to input signal conditions. T he difference from Paragraph 「13) ‘JPT
Input0~Input2 Input」 is:
1) PT number to be jumped must be composed to 10XXX; 2) Next motion is not executed until ‘JPT Start’ is set to ON. If ‘Wait Time’
value of PT data is more than ‘0’, the time lapses additionally and then
next motion is executed.
【Example】
PT 14 Data
PT No. … Wait Time JP Table No JPT 0 JPT 1 JPT 2
14 … 500 10015 10115 10116 10255
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45 8. Control I/O Signal
8.4 Output Signal
1) ‘Compare Out’/ ’Trigger Pulse Output’Output ‘Trigger Pulse Output’ signal is displayed when specific conditions are
performed. It is fixed to CN1 connector’s COMP (Compare Out) pin. And it is
available when the motor needs to be synchronously controlled by an external
controller. Refer to 「10.5 Trigger Pulse Output」.
2) ‘Inposition’Output After the motor stop in target positio n exactly on Servo ON status, the signal
becomes [ON]. The condition of this signal depends on parameter ‘Position Loop
Gain’and ‘Inpos Value’.
* Time delay of Output signal depends on the parameter‘Inpos Value’:
3) ‘Alarm’ & ‘AlarmBlink’Output When the motor operates normally, alarm output becomes OFF. When the protective
function operates, alarm output becomes ON. The upper controller being used by the
user detects this alarm and then stops motor operation command. If overload or
overcurrent occurs while the motor is operating, the drive detects it and cuts off
the motor’s current. And alarm output is set to ON and also ‘AlarmBlink’ flash
so that the user can check abnormality type. The following table shows alarm type
according to LED flash count.
Value Mode Description
0~7 Fast mode Output the signal in 1[msec] after the motor stop
in target position.
8~15 Accurate mode
Output the signal in maximum 100[msec] after the
motor stop in target position.
(Time is needed to check find exact positioning)
Flash
Count Alarm Name Description
1 Overcurrent The current through power devices in inverter exceeds the limit
value
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46 8. Control I/O Signal
*1 Values[pulse] of parameter ‘Pos Tracking Limit[No.27]
*2 70V : EzS-NDR-20, EzS-NDR-28, EzS-NDR-42, EzS-NDR-56, EzS-NDR-60 model
90V : EzS-NDR-86 model
*3 20V : EzS-NDR-20, EzS-NDR-28, EzS-NDR-42, EzS-NDR-56, EzS-NDR-60 model
40V : EzS-NDR-86 model
*4 Upper Limit
28V : EzS-NDR-20, EzS-NDR-28, EzS-NDR-42, EzS-NDR-56, EzS-NDR-60 model
70V : EzS-NDR-86 model
Lower Limit
20V : EzS-NDR-20, EzS-NDR-28, EzS-NDR-42, EzS-NDR-56, EzS-NDR-60 model
36V : EzS-NDR-86 model
*5 Values[pulse] of parameter ‘Pos. Error Overflow Limit[No.33]
*6 It can be applied over the Firmware version of 06 .03.043.10.
4) ‘PT ACK’and ‘PT End’Output ‘PT ACK’ and ‘PT End’ signals are available only when the motion is executed
by position table. When PT ACK signal is set to ON and PT End signal is set to OFF,
all motion loops are finished. Then PT ACK signal becomes OFF and PT End signal
becomes ON. If the ‘Wait time’ value in PT item is not 0, the defined time is
needed to PT End signal becomes ON.
Refer to 「Ezi-SERVO Plus-R User Manual – ‘Position Table Function’」.
5) ‘Moving’and ‘Acc/Dec’Output As shown below, the position sta rts to move by motion command, and Moving signal
becomes ON and Acc/Dec signal becomes ON in the acceleration and deceleration
section only.
2 Overspeed Command speed for motor exceeds 3300[rpm].
3 Position Tracking Position error value is higher than specified value*1 in position
command status. *1
4 Overload The motor is continuously operated more than 5 second under a
load exceeding the max. torque.
5 Overheat The internal temperature of the drive exceeds 55℃.
6 Over regeneratived
voltage Back-EMF more than limit value. *2
7 Motor connection The connection of drive and motor is defective.
8 Encoder connection The connection of drive and encoder is defective.
9 Motor voltage error The power supplied to the motor is less than low limit value. *3
10 Inposition error After operation is finished, a position error occurs.
11 System error Drive system is halted(Watch Dog Timer).
12 ROM error Read/Write error on ROM device in drive system.
14 Drive voltage error The power supplied to the dr ive is higher than limit value. *4
15 Pos. Error Overflow*6 Position error value is higher than specified value*1 in motor
stop status. *5
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47 8. Control I/O Signal
* Moving signal is not related to actual position. The signal becomes to [OFF]
Just after the ‘position command’is finished.
6) ‘Org Search OK’Output When the origin return motion is executed by origin search command, ‘Origin Search OK’ signal is set to OFF. When the origin return motion is normally finished by the origin sensor, ‘Origin Search OK’ is set to ON. Refer to 「8.3 Input Signal - 9) Origin Search Input」.
7) ‘Servo Ready’Output When the drive supplies power to the motor by Servo ON signal or command and is ready to perform motion command, ‘ServoReady’ signal displays ON signal. Refer to 「8.3 Input Signal – 7) Servo On and AlarmReset Input」.
8) ‘PT(Position Table) Output 0~2 ‘Output Control output used for ‘Start/Stop Message Function’. When these items are set, this signal enables the user to check if corresponding PT motion starts or stops through control output sign al. If ‘Start/Stop Message Function’ is not used, this signal should be set to 0 or 8. At the position set with other values, the motion operates as follows.
・ If PT set items are set to ‘1~7’, when the position starts to move, PT Output HEX value is displa yed to ‘PT Output O ~ PT Output 2’.
・ If PT set items are set to ‘9~15’, the position motion is finished and then PT Output HEX value is displayed to ‘PT Output O ~ PT Output 2’.
For more information, refer to 「 Ezi-SERVO Plus-R User Manual – Position Table
Function」.
9) ‘BRAKE+’and ‘BRAKE-‘ Output This function is used to protect motor rotation in Servo ON status by pin24
And pin25 of CN1 connector. DC +24V is connect to ‘BRAKE+’for brake logic
and brake control signal is connect to ‘BRAKE-‘.
This output function must be used to the Brake that is under 200[mA]/DC24V
of current consumption.
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48 8. Control I/O Signal
10) ‘Brake’ Output This function can be used when the Brake signal is assigned to one of OUTPUT1~
OUTPUT9 of CN1 connector. This is used for protect motor rotation in
Servo ON status. The signal timing diagram between Servo ON command and
Brake signal is same as 9) ‘BRAKE+’ and ‘BRAKE-‘ Output.
This signal used for the Brake that is over 200[mA]/DC24V o f current
consumption. Brake, Relay and diode is needed for this function and the
signal connection diagram is as follows.
*1 Brake : User selected Brake
*2 Relay : under 15[mA] / DC24V
*3 Diode : 1N4004 or equivalent
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49 9. Operation
9. Operation
9.1 Power Supply Timing
Ezi-SERVO Plus-R is supplied power through drive module to motor. Therefore, connect
the drive and the motor with a cable and then supply power to the drive module. After
power is supplied, the motor is basically set to Servo OFF.
9.2 Servo ON Operation
After power is supplied, set the drive module to Servo ON as follows.
① Click ‘Servo OFF’ button at the User Program(GUI).
② Give the drive a command through DLL library.
③ Assign ‘Servo ON’ to a control input pin, and supply the drive with the signal
through the pin.
After Servo ON command is given, In-position is finished to the time as shown below.
‘t1’ is the time until Servo ON command is given and then the position is decided.
It is about 400 msec. It is subject to the rising time of supplying power and the
motor status.
If the ‘Servo ON’ signal is assigned to input pin, ServoON command
from GUI or DLL library will not executed.
9.3 Operation Mode
This controller can do three control operations such as I/O command, communication
command(DLL program), and User Program(GUI)
(1) I/O Command Mode
This controller can execute control operation like in-position by I/O command
transmitted from the upper controller. The in-position control operation is
executed by operating position table with I/O command.
(2) Communication Command Mode
This controller can execute control operation like in -position by command
transmitted from the upper controller. The in -position control operation is
executed by operating position table with I/O command
Caution
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50 9. Operation
Position Table Operation Sequence
In case of Ezi-SERVO Plus-R, the system can execute continuous operation by
position table at the I/O command mode.
① By using PT A0 ~ PT A7 input signal or DLL program, set PT number to be
operated.
② In case of Servo OFF, set the controller to Servo ON by communication program
or Servo ON control input.
③ Start to operate by rising edge of PT Start input signal or communication
program.
Stopping Continuous Operation of Position Table
When the motor is executing continuous operation of position table with Ezi-SERVO
Plus-R, stop executing position table by following methods.
① To use DLL program or control input signal corresponding to ‘Stop’ and ‘E-
Stop’. In this case, operation is co mpletely finished and is not connected to
next operation.
② The user can click 「 Pause 」 at User Program(GUI) to temporarily stop
operating. In this case, click 「Pause」 again, and remaining operation will
be executed again.
Speed Control Operation
To operate the motor by parameters set by User Program(GUI) or DLL program. (This
is not connected with PT operation.)
Once speed control operation is started, PT operation command is overridden.
Likewise, while PT operation is executing, speed control operation command is
overridden.
The followings show parameters applied to speed control operation. All position
table item values are overridden.
Parameter Name Setting Content Range
Axis Max Speed Operation speed after acceleration is finished 1~2,500,000[pps]
Axis Start Speed Operation start speed before acceleration starts 1~35,000[pps]
Axis Acc Time Required time until the motor reaches the axis max
speed from stop status 1~9,999[ms]
Axis Dec Time Required time until the motor reaches from the axis
max speed to the stop status 1~9,999[ms]
Motion Dir To select motion direction (CW or CCW) 0~1
Pulse per
Revolution
Number of pulses per revolution.
The range of ‘Axis Max Speed’parameter is depend
on this value.
0~9
Teaching Function
Teaching can be executed only by User Program(GUI). For more information, refer to
「User Manual – Position Table Function」.
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51 10. Other Operation Functions
10. Other Operation Functions
10.1 Position Table(PT) Operation Example
Input ‘PT A0~ PT A7’ signals to set PT number. Input ‘PT Start’number to execute
speed control operation. For more information, refer to 「User Manual – Position Table
Function」.
【Position Table Setting】
PT
No.
Command
type Position
Low
Speed
High
Speed
Accel.
time
Decel.
time
Wait
time
Continuous
Action
JP Table
No.
0 3 10000 1 2500 50 300 0 1 1
1 3 1000 1 500 - - 0 1 2
2 3 5000 1 1500 50 300 300 0 3
3 3 -2500 1 1000 300 300 0 0 -
10.2 Jog Operation Example
The machine executes speed control operation at the speed set by parameters according to
inputting ‘Jog+’ and ‘Jog-‘ signals.
【Parameter Setting】
No. Parameter Name Setting Value Unit
6 Jog Speed 1500 [pps]
7 Jog Start Speed 100 [pps]
8 Jog Acc Dec Time 200 [msec]
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52 10. Other Operation Functions
Also, when any value except 0 is set to the ‘Jog Start Speed’parameter, the relation between jog
command and in-position is shown below.
10.3 Origin Return
If the machine is operated by I/O signals, the motor can execute origin return by
inputting ‘Origin Search’ signal. Also, the motor can execute origin return with
User Program(GUI) and DLL program. The following table shows parameter types related
to origin return.
Parameter Name Description Range
Org Speed Operation speed when origin return starts 1~500,000[pps]
Org Search Speed Low-speed operation speed after origin sensor is
sensed and operation start speed when origin start. 1~50,000[pps]
Org Acc Dec Time The time assigned to the acceleration/deceleration
section when origin return starts and stops. 1~9,999[ms]
Org Method To select how to return the origin 0~5
Org Dir To select operation direction (CW or CCW) 0~1
Org Offset After origin return is finished, the motor moves
additionally as this setting value and then stops.
-134,217,727 ~
134,217,727
Org Position Set After origin return is finish ed, ‘Command Pos’ value
is set to this setting value.
-134,217,727 ~
134,2177,27
Org Sensor Logic To set the origin sensor signal level. 0~1
Org Torque Ratio To set the torque ratio during Torque origin method 10~100[%]
(1) Origin Return Method Setting
To execute origin return, ‘Org Method’ parameter should be set as follows.
① Common Origin (In case of ‘Org Method’= 0)
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53 10. Other Operation Functions
The machine moves up to the origin sensor by ‘Org Speed’ and ‘Org Acc Dec
Time’ parameters and then completes precise origin return at the low speed set
to ‘Org Search Speed’. The machine senses the origin sensor and moves as far
as D1 and then stops. And the machine changes its moving direction and
additionally moves as far as D 2 and then stops. D1 and D2 are the same moving
distance. If Org Offset parameter is not ‘0’, the machine moves additionally
as much as the parameter (ex: D3) and then stops. If the limit sensor is sensed
while the machine is under origin return, the machine stops and reverses its
moving direction and then continues to origin return operation.
② Z-pulse Origin (In case of ‘Org Method’= 1)
The machine moves up to the origin sensor by ‘Org Speed’ and ‘Org Acc Dec
Time’ parameters and then completes Z-pulse origin return at the low speed set
to ‘Org Search Speed’. That is, after the origin sensor is sensed, the machine
moves slowly to the original moving direction until Z -pulse signal is sensed.
③ Limit Origin (In case of ‘Org Method’= 2)
The machine moves up to the position which the limit sensor is sensed by ‘Org
Speed’ & ‘Org Search Speed’parameters, and stops by ‘Org Acc Dec Time’value.
The moving direction complies with as set in ‘Org Dir’.
If there’s no limit sensor on your system, you ca n set ‘Origin’ by ‘S/W
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54 10. Other Operation Functions
Limit Plus Value’ and ‘S/W Limit Minus Value’of parameters.
④ Torque Origin (In case of ‘Org Method’= 3 )
The machine moves up to the wall which the pushing torque is reached to ‘Org
Torque Ratio’value. This method can be used witho ut origin sensor and without
limit sensor.
When the machine moves up to the mechanical limit by ‘Org Dir’direction,
it stop immediately and moves in reverse direction until ‘D2’ distnace.
If the ‘Org Offset’ parameter is not 0, it moves more as ‘D3’distance.
⑤ Torque Z Origin (In case of ‘Org Method’= 4 )
After the machine moves up to ‘Torque Origin’, it moves additionally up to
meet ‘Z-pulse’ of encoder. The motioning of‘Torque Origin’is same as
Torque Origin (In case of‘Org Method’=3) and the remaining
Z-pulse motioning is same as k Z-pulse Origin(In case of ‘Org Method’=1).
* In case of this, the ‘Org Search Speed’value is working under 10000[pps].
⑥ Set Origin (In case of ‘Org Method’=5 )
Set to origin in current mechanical position without origin sensor.
(2) Origin Return Procedure
Origin return is executed according to the following procedure.
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55 10. Other Operation Functions
① Set parameters required to origin return.
② If the Servo is OFF, (reset an alarm when it occurs) input a control input
Servo ON command or send a communication program so that the Servo can be ON.
③ Start origin return operation to the rising edge of control input origin
search or the communication program.
(3) Interruption of Origin Return
When the machine is under origin return, clic k ‘Stop’ or ‘E-Stop’ to stop the
machine. In this case, the machine’s origin is not edited and origin return is
not completed either.
(4) Output of Origin Return Finish
The completion of origin return operation can be decided with related bit values
of either ‘Origin Search OK’ of control output or ‘Axis Status’ of
communication program.
10.4 Stop Operation
By using two methods of control input and communication program command, the user can
input stop and emergency stop commands. Even though the emerge ncy stop command is
inputted, the Servo will be not OFF. In case emergency stop, the machine stops
immediately without deceleration. So, a special caution for mechanical impact is
required.
10.5 Trigger Pulse Output
This function is used when the output s ignal becomes ON periodicallyin in specific
condition.
(1) Setting
This function is working with RS -485 communication (DLL library) method.
This command can be executed during the positioning command or before the positioning
command also. The following table shows the setting conditions and refer to
「User Manual – Communication Function」.
Setting Item Description Range
Start/Stop Setting start/stop of pulse output . 0~1
Pulse Start
Position
Setting the start position of first
pulse output.
-134,217,727 ~
134,217,727
Pulse Period
Setting the pulse period.
( 0 : pulse output only 1 time in
Pulse start position.
1~ : pulse output repeatedly
depends on setting.)
0~134,217,727
[pulse]
Pulse Width Setting the pulse width. 1~1000[ms]
(2) Signal Output
This output pin of CN1 connector for Trigger Pulse is fixed to 「Compare Out」and
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56 10. Other Operation Functions
the signal diagram is as follows.
The pulse is output only in bigger position area than ‘pulse start
position’and is output in both motion direction.
(3) Status Check
By using DLL program, the user can check the trigger pul se output status.
Refer to 「User Manual – Communication Function」.
10.6 Push Motion
This function is used when the specified motor torque is needed during motio ning and
Stop(only in Stop-mode) status.
(1) Function
Figure 10.6.1
j Start Push Motion command k Normal position motion command is executed.
(status : position mode)
l Decelerate the speed from position motion to push motion. (push motion speed must be lower than 200[rpm].)
④ Push motioning until the work detected with specified motor torque. (status : push mode)
Caution
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57 10. Other Operation Functions
The motioning will stop just after the work detected. ⑤ When Push mode is ‘Stop’:
After the work detected, the motor will stop but the motor torque will be
maintained and the ‘inposition’and other signal is effective.
The maintained motor torque will be return to normal(Servo ON) status by
‘stop’ command.
(status : release push mode and return to position mode)
When Push mode is ‘Non-stop’:
After the work detected, the motor will not stop and the motor torque will be
maintained and the ‘inposition’and other signal is effective.
⑥ Additional the next step is needed as below diagram (Figure 10.6.2).
Figure 10.6.2
The ‘Stop’command must be executed before next motion command. (In Stop mode
it is no need to ‘stop’when there is no shock in mechanism) At this
'stop’ procedure, the motor move to backward as much as the ‘Push mode’
parameter values. This motion will be reduce the shock in mechanism.
⑦ Time delay can be needed before returning to start position depends on mechanical conditions.
⑧ Return to start position.
Non-stop mode : must be execute the ‘Stop’ command before next motion
command in the work detect situation.
If there is shock in mechanism, the time delay is needed after ‘Stop’
operation.
(2) Specification
The push torque is different for ea ch motor size. Refer to 「4.Characteristic
of Motor Torque」.
Push ratio (from 20~100[%] ) value is referenced to stop status torque on ‘Torque
Graph’. And the accuracy is -20 ~ +20[%].
Work
Position motion
Push motion speed
Backward motion in STOP Return motion to start
(6)
(8)
(7)
Caution
Caution
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58 10. Other Operation Functions
When this function is working specially in Ezi-Actuator that is combined
Ezi-SERVO-PR-MI and MC-28VA cylinder, the push motion characteristic is as follows.
Item MC-28VA with Ezi-SERVO-PR-MI
Pushing force [N] *1 20 ~ 83 (push ratio : 20~90 [%])
Pushing speed [mm/sec] 6.6 or less
Positioning repeatability
[mm]
0.01
Driven method Lead screw
Max velocity [mm/s] 24
Lead [mm] 2 *1 : Accuracy is -20 ~ +20 [%]
When this function is working specially in Captive LinearStep that is combined
Ezi-SERVO-PR-MI and 17C2035S4 motor, the push motion characteristic is as follows.
Item 17C2035S4 with Ezi-SERVO-PR-MI
Pushing force [N] *1 22 ~ 106 (push ratio : 20~90 [%])
Pushing speed [mm/sec] 19.05 or less
Driven method Lead screw
Lead [mm] 6.35 *1 : Accuracy is -20 ~ +20 [%]
(3) Setting Method
This function is working only in absolute position va lue. The position error can
happen due to the work status in push mode. Push motion command can be executed
by 2 methods. One is RS-485 communication(DLL library) method and the other is
external digital signal(PT Start command) method.
j DLL library method The following table shows the setting conditions and refer to 「User Manual
– Communication Function」.
There is another library for status checking of push motioning.
Setting Item Description Range
Position command Start
speed
Start speed value of position motion 1~35000[pps]
Position command Moving
speed
Moving speed of position motion 1~500000[pps]
Position command Target
position
Absolute taregt position value of
position command
(‘position 1’ of Figure10.6.1)
134,217,727 ~
134,217,727
Accel time Accel time of position motion 1~9,999[ms]
Deceleration time Decelerate time of position motion 1~9,999[ms]
Push ratio Motor torque value in push mode 20~90[%]
Push command Moving
speed
Moving speed of Push motion
(max 200[rpm]) 1~100000[pps]
Push command Target
position
Absolute taregt position value of
push command
(‘position 2’ of Figure10.6.1)
134,217,727 ~
134,217,727
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59 10. Other Operation Functions
k Input signal(PT Start) Method Firstly the position table data must be entered before the push motioning and
refer to 「User Manual – Position Table Function」.
(4) Status Check
Basically the current push motion status can be checked by DLL library and
Additionally can be checked by Flag(Inposition & PT Stoped signal) and Output
(END signal) as follows.
j Work detected
k Work not detected (Stop mode)
The ‘Inposition’ signal is still OFF when the work is not detected in
Non-stop mode.
*Non-stop mode : the value must be set
more than ‘ Position command Target
Position’ value.
Push mode
Set Stop mode(0) or Non-stop mode(1~
10000) after the work detect. In case of
Non-stop mode, the motor move backward as
much as this value[pulse] distances.
0~10,000
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60 11. Communication Function
11. Communication Function
In case of RS-485, up to 16 axes can be controlled by th e multi-drop link(daisy chain).
If Windows goes to the stand -by mode, serial communication is
basically disconnected. So, after recovering from the stand -by mode,
the user should connect communication again. This content is equally
applied to the library provided with the product.
11.1 Connection with the PC
There are one method of connecting between the drive and the PC by RS-485(serial communication). PC’s RS-232C port can be used. By using following communication converters according to each commun ication type, the user can connect the PC and the drive module. The maximum communication speed is 115200[bps] with RS -232 to RS-485 converter.
For connection with the PC, refer to 「5.2 Controller Configuration」.
1) Cable of Connecting RS232 Port (to PC) and Converter (RS232 ↔ RS-485) Normally Power does not need to be supplied to the converter module. But when
the communication have problems without power, DC 5~24V external power ca n be
connected. The signal is wired as follows.
RS-485 Converter (to RS-232)
Caution
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61 11. Communication Function
2) Cable of connecting RS-485 Converter and Drive Module(CN5 : Ezi-SERVO-PR only) Connector Type : RJ45 Cable Type : LAN cable, CAT5E or better (UTP or STP) Signal Wiring : Standard Straight Wiring (1↔1, 2↔2, 3↔3,…, 8↔8) If multi-axis connection is required at one segment, up to 16 drive modules can be connected by the daisy-chain method. The pin signal content is as follows.
RJ45 Pin No. UTP CAT5E cable Function
1 White/Orange GND
2 Orange GND
3 White/Green Data+
4 Blue GND
5 White/Blue GND
6 Green Data-
7 White/Brown GND
8 Brown GND
case Frame GND
3) Cable of connecting RS-485 Converter and Drive Module(CN5 : Ezi-SERVO-PR-MI only) Signal Wiring : Standard Straight Wiring
(1↔1, 2↔2, 3↔3)
If multi-axis connection is required at one segment, up to 16 drive modules can be connected by the daisy-chain method. The pin signal content is as follows.
Signal cable ‘Data+’ and ‘Data-’ are differential type signals. These two signal cables must be twisted.
The cable length of RS-485 ConverterDrive or DriveDrive must be longer than 60 cm.
Pin No. Function
1 Data+
2 Data-
3 GND
Caution
Caution
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62 11. Communication Function
11.2 Communication Interface Circuit
The above figure shows an I/O circuit of RS-485 communication interface signal. When
communication is connected, Ezi-SERVO Plus-R maintains to receive stand-by status. It
performs sending only when it receives the signal from upper communication and then
replies. For more information about communication function, refer to 「User Manual –
Communication Function」 in a separate volume.
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63 12. Protective Function
12. Protective Function
12.1 Alarm Type
When an alarm occurs while the controller is operating, a red LED among status display
LEDs flash and the following protective function will be display ed according to the
number of LED flash counting.
Alarm Table
*1 Values[pulse] of parameter ‘Pos Tracking Limit[No.27]
*2 70V : EzS-NDR-20, EzS-NDR-28, EzS-NDR-42, EzS-NDR-56, EzS-NDR-60 model
90V : EzS-NDR-86 model
*3 20V : EzS-NDR-20, EzS-NDR-28, EzS-NDR-42, EzS-NDR-56, EzS-NDR-60 model
40V : EzS-NDR-86 model
*4 Upper Limit
28V : EzS-NDR-20, EzS-NDR-28, EzS-NDR-42, EzS-NDR-56, EzS-NDR-60 model
70V : EzS-NDR-86 model
Lower Limit
20V : EzS-NDR-20, EzS-NDR-28, EzS-NDR-42, EzS-NDR-56, EzS-NDR-60 model
36V : EzS-NDR-86 model
*5 Values[pulse] of parameter ‘Pos. Error Overflow Limit[No.33]
*6 It can be applied over the Firmwar e version of 06.03.043.10.
12.2 Acquiring Alarm Information
When an alarm occurs, the motor become Servo O FF and then stops by free run and at the
same time displays alarm message.
Also, ‘AlarmBlink’ signal repeats On/Off according to the timing as illus trated
below. The red LED flash every 0.5 second in accordance with alarm number and wait for
Flash
Count Alarm Name Description
1 Overcurrent The current through power devices in inverter exceeds the limit
value
2 Overspeed Command speed for motor exceeds 3300[rpm].
3 Position Tracking Position error value is higher than specified value*1 in
position command status . *1
4 Overload The motor is continuously operated more than 5 second under a
load exceeding the max. torque.
5 Overheat The internal temperature of the drive exceeds 55℃.
6 Over regeneratived
voltage Back-EMF more than limit value. *2
7 Motor connection The connection of drive and motor is defective.
8 Encoder connection The connection of drive and encoder is defective.
9 Motor voltage error The power supplied to the motor is less than low limit value. *3
10 Inposition error After operation is finished, a position error occurs.
11 System error Drive system is halted(Watch Dog Timer).
12 ROM error Read/Write error on ROM device in drive system.
14 Drive voltage error The power supplied to the drive is higher than limit value. *4
15 Pos. Error Overflow*6 Position error value is higher than specified value*1 in motor
stop status. *5
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64 12. Protective Function
2 seconds. And then red LED flash repeatedly until inputting ‘AlarmReset’signal.
(Example) Alarm 3: ‘AlarmBlink’display signal occurred when the step-out is occured.
12.3 Alarm Release
If an alarm occurs, remove its cause and then release it. The alarm can be released as
follows. In case of alarms of which ‘Reset’column is indicated to ‘Invalid’, power
must get down prior to releasing the alarms.
Flash
Count Alarm Name Description Reset
1 Overcurrent
Check the mechanical status such as parameter setting,
motor’s short-circuit, or machine load (whether
machine edge is collided), etc.
Valid
2 Overspeed Check parameter setting, and abnormal operation of the
motor. Valid
3 Position
Tracking
Get down the load or increase the acceleration or
deceleration speed. Valid
4 Overload Compare the motor’s rating with load scale. Valid
5 Overheat Get down the ambient temperature or install a cooling
fan. Valid
6
Over
regeneratived
voltage
In case of high-speed operation, check if the
acceleration or deceleration speed is low. Valid
7 Motor connection Check the connection status of drive and motor. Invalid
8 Encoder
connection Check the connection status of drive and encoder. Invalid
9 Motor voltage
error Check if power is supplied to the drive. Invalid
10 Inposition error Check if parameters are set correctly or the machine
is over-loaded. Valid
11 System error Check if current of power supply is supplied to the
drive. Invalid
12 ROM error Contact to distributor. Invalid
14 Drive voltage
error Check if power is supplied to the drive. Invalid
15 Pos. Error
Overflow
Get down the load or increase the acceleration or
deceleration speed. Valid
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65 13. Parameter
13. Parameter
13.1 Parameter List
No. Name Unit Lower Limit Upper Limit Default
0 Pulse per Revolution 0 9 9
1 Axis Max Speed [pps] 1 2,500,000 500,000
2 Axis Start Speed [pps] 1 35,000 1
3 Axis Acc Time [msec] 1 9,999 100
4 Axis Dec Time [msec] 1 9999 100
5 Speed Override [%] 1 500 100
6 Jog Speed [pps] 1 2,500,000 5,000
7 Jog Start Speed [pps] 1 35,000 1
8 Jog Acc Dec Time [msec] 1 9,999 100
9 Servo Alarm Logic 0 1 0
10 Servo On Logic 0 1 0
11 Servo Alarm Reset Logic 0 1 0
12 S/W Limit Plus Value [pulse] -134,217,727 +134,217,727 +134,217,727
13 S/W Limit Minus Value [pulse] -134,217,727 +134,217,727 -134,217,727
14 S/W Limit Stop Method 0 1 1
15 H/W Limit Stop Method 0 1 1
16 Limit Sensor Logic 0 1 0
17 Org Speed [pps] 1 500,000 5,000
18 Org Search Speed [pps] 1 500,000 1,000
19 Org Acc Dec Time [msec] 1 9,999 50
20 Org Method 0 4 0
21 Org Dir 0 1 0
22 Org Offset [pulse] -134,217,727 +134,217,727 0
23 Org Position Set [pulse] -134,217,727 +134,217,727 0
24 Org Sensor Logic 0 1 0
25 Position Loop Gain 0 15 4
26 Inpos Value 0 15 0
27 Pos Tracking Limit [pulse] 0 +134,217,727 5,000
28 Motion Dir 0 1 0
29 Limit Sensor Dir 0 1 0
30 Org Torque Ratio [%] 10 100 50
31 Pos. Error Overflow Limit *2 [pulse] 0 +134,217,727 5,000
32 Pos. Value Counting Method 0 1 0
*1 It can be applied over the Firmware version of 08.13.045.1
*2 It can be applied over the Firmware version of 06.03.043.10
13.2 Encoder Setup
The setup of encoder can do in‘No.0 (Pulse per Revolution)’ item on next table.
Normally the resolution of encoder is 10000. If the resolution is 20000, 32000 or
other value, you have to set ‘0’in parameter setup.
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66 13. Parameter
If you don’t use default value for ‘No.0 (Pulse per Revolution)’, ‘Position Error’
can happen because of the function of Electronic Gear Ratio.
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67 13. Parameter
13.3 Parameter Description
No. Description Unit Lower
Limit
Upper
Limit Default
0 Pulse per Revolution : Number of pulses per revolution.
If this value is changed, the motor is set to Servo OFF.
*1 : In case of encoder resolution is 2000,4000, 16000, 20000
32000
Value Pulse/Revolution Value Pulse/Revolution
0 500 *1 5 3600
1 500 6 5000
2 1000 7 6400
3 1600 8 7200
4 2000 9 10000
0 9 9
1 Axis Max Speed : When position moving commands (absolute move, incremental move) are
given, this mode sets the maximum speed which the motor can
operate. So, the motor cannot be operated faster than this value
in any case. This value is set to [pps] unit.
Upper Limit value has limit by encoder resolution value.
*in case of 10,000 : 500,000
In case of 32,000 : 1,600,000
pps 1 2,500,000 500,000
2 Axis Start Speed : When position moving commands (absolute move, incremental move) are
given, this mode sets the operation start speed to [pps] unit.
pps 1 35,000 1
3 Axis Acc Time : When position moving commands (absolute move, incremental move) are
given, this mode sets the acceleration section of operation start
segment to [msec] unit.
Possible range is different f rom Axis Speed.
(Ex.1) Axis Start Speed=1, Move Speed=400000 : 1~1430 [msec]
(Ex.2) Axis Start Speed=1, Move Speed=10000 : 1~350 [msec]
msec 1 9,999 100
4 Axis Dec Time : When position moving commands (absolute move, incremental move) are
given, this mode sets the deceleration section of operation stop
segment to [msec] unit.
Possible range is different from Axis Speed same as ‘Axis Acc
Time’parameter
msec 1 9,999 100
5 Speed Override : When position moving commands (absolute move, incremental move) are
given, the operation speed is subject to the rat io set to ‘Move
Speed’.
(Ex) If current move speed is 10,000 and speed override is 200,
actual motion speed is set to 20,000.
% 1 500 100
6 Jog Speed : When jog position moving command is given, this mode sets the
motor revolution value to [pps] unit.
pps 1 2,500,000 5000
7 Jog Start Speed : When jog position moving command is given, this mode sets the
operation start speed to [pps] unit.
pps 1 35,000 1
8 Jog Acc Dec Time : In case of jog operation, this mode sets the time of acceleration
and deceleration sections to [msec] unit.
msec 1 9,999 100
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68 13. Parameter
9 Servo Alarm Logic : When the motor or the drive is defective and so alarm signal
output is ON through CN1 connector, this mode sets the output
signal level.
♦ 0 : 0 V (Active low level)
♦ 1 : 24V (Active high level)
0 1 0
10 Servo On Logic : By using the input pin of CN1 connector, the drive may be
converted into Servo ON. In this case, this mode sets the input
signal condition so that the drive can be Servo ON.
♦ 0 : When 0 V (low level) is inputted, servo is set to ON.
♦ 1 : When 24V(high level) is inputted, servo is set to ON.
0 1 0
11 Servo Alarm Reset Logic : When the motor or the drive is detected to generate alarm , this
mode sets the input signal level to release the alarm signal.
Before releasing the alarm signal, the user must release its
cause.
♦ 0 : 0 V (Active low level)
♦ 1 : 24V(Active high level)
0 1 0
12 S/W Limit Plus Value : When position moving commands (absolute move, incrementa l move,
jog) are given, this move set the maximum input limit that the
motor can move to the plus(+) direction with 28 bits.
When position reach to this value during ‘Limit Origin’, it will
be recognized to the Origin.
When this value set to ‘0’, S/W Limit function is canceled
pulse -134,217,
727
+134,217,
727
+134,217,
727
13 S/W Limit Minus Value : When position moving commands (absolute move, incremental move ,
jog) are given, this move set the minimum input limit that the
motor can move to the minus(-) direction with 28 bits.
When position reach to this value during ‘Limit Origin’, it will
Be recognized to Origin.
When this value set to ‘0’, S/W Limit function is canceled
pulse -134,217,
727
+134,217,
727
-134,217,
727
14 S/W Limit Stop Method : Sets how to stop the motor by SW Limit Plus/Minus Value’, not
stop motion by the limit sensor.
♦ 0 : stops the motor immediately by e mergency stop mode.
♦ 1 : stops the motor gradually by soft stop mode.
0 1 1
15 H/W Limit Stop Method: In case of stop motion by the limit sensor, this mode sets how to
stop the motor.
♦ 0 : stops the motor immedia tely by emergency stop mode.
♦ 1 : stops the motor gradually by s oft stop mode.
0 1 1
16 Limit Sensor Logic : Sets the signal level so that the motor can recognize limit
sensor’s input to ON.
♦ 0 : 0 V (Active low level)
♦ 1 : 24V(Active high level)
0 1 0
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69 13. Parameter
17 Org Speed : In case of origin return command, this modes sets the operation
speed until the motor senses the origin sensor to [pps] unit.
pps 1 500,000 5,000
18 Org Search Speed : In case of origin return command, The low operation speed for
precise origin return after the motor senses the origin sensor is
set to [pps] unit by this mode.
pps 1 500,000 1,000
19 Org Acc Dec Time : In case of origin return command, the acceleration/deceleration
section time of the operation start/stop segment is set to [msec]
unit by this mode.
msec 1 9,999 50
20 Org Method : The user can select origin return command types.
♦ 0 : The motor moves up to the origin sensor spot by ‘Org
Speed’ and then executes precise origin return at the low
value of ‘Org Search Speed’.
♦ 1 : The motor moves up to the origin sensor spot by ‘Org
Speed’ and then executes Z-pulse origin return at the low
value of ‘Org Search Speed’.
♦ 2 : The motor moves up to the limit sensor spot by ‘Org
Speed’ and then immediately stops.
♦ 3 : The motor moves up to the wall by ‘Org Torque Ratio’ and
then immediately stops.
♦ 4 : The motor moves up to the wall by ‘Org Torque Ratio’ and
then executes Z-pulse origin return at the low value of ‘Org
Search Speed’.
♦ 5 : To set origin in current mechani cal position..
For more information, refer to ‘10.3 Origin Return’.
0 5 0
21 Org Dir : In case of origin return, this mode sets the revolution direction
of the motor.
♦ 0 : moves the motor clockwise.
♦ 1 : moves the motor counterclockwise.
0 1 0
22 Org Offset : After origin return is completed, the motor moves additionally as
this setting value and then stops. ‘Command Pos/Actual Pos’is
set to ‘0’.
pulse -134,217,
727
+134,217,
727 0
23 Org Position Set : After origin return is completed, ‘Command Pos/Actual Pos’value
is set to this setting value.
pulse -134,217,
727
+134,217,
727 0
24 Org Sensor Logic : Sets the origin sensor signal level so that the motor can
recognize origin sensor’s input to ON.
♦ 0 : 0 V (low level)
♦ 1 : 24V(high level)
0 1 0
25 Position Loop Gain : After the motor stops, this mode controls the motor ’s response by
a load attached to the motor. The user can control this value by
the motor’s load and so get the motor’s performance that
responds fast and stabl y. Set this mode as follows.
1) Set the value to ‘0’. 2) Increase the value until the motor ’s response is stabilized. 3) Previously adjust the setting status by increasing/decreasing
one or two steps of the current setting value.
0 15 4
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70 13. Parameter
Va
lu
e
Integral
Part’s Time
Constant*
Proportion
al Gain*
Va
lu
e
Integral
Part’s Time
Constant*
Proportio
nal Gain*
0 1 1 8 2 3
1 1 2 9 2 4
2 1 3 10 2 5
3 1 4 11 3 1
4 1 5 12 3 2
5 1 6 13 3 3
6 2 1 14 3 4
7 2 2 15 3 5
* The above value is not the ac tual value used inside the drive
but the relative value.
26 Inpos Value : Sets the output condition of the in -position finish signal. After
position command pulse is finished, when the position deviation
from target position is within ‘Inpos Value’, this mode displays
in-position finish signal.
Value In-position [pulse]
Fast Response Value
In-position [pulse]
Accurate Response
0 0 8 0
1 1 9 1
2 2 10 2
3 3 11 3
4 4 12 4
5 5 13 5
6 6 14 6
7 7 15 7
0 15 0
Fast response and accurate response can be controlled as illustrated below.
27 Pos Tracking Limit : Acts to protect the motor and the drive. While the motor is
run, when ‘Position Error’ is greater than this setting
value, this mode generates an alarm to stop a flow of
electricity to the motor and then set it to Servo O FF.
pulse 1 +134,217,
727 5,000
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71 13. Parameter
28 Motion Dir : When the motor operates by position command, this mode sets the
revolution direction of the motor.
♦ 0 : moves the motor clockwise.
♦ 1 : moves the motor counterclockwise .
If this parameter is changed, normally ‘Limit Sensor Dir’is
also changed.
0 1 0
29 Limit Sensor Dir : Sets the limit sensor direction to stop the motor to the limit
spot under operation.
♦ 0 : When operation direction is ‘CW’, input the sensor
signal to the Limit+ direction, and the motor will stop. ♦ 1 : When operation direction is ‘CW’, input the sensor
signal to the Limit- direction, and the motor will stop.
If this parameter is changed, normally ‘Motion Sensor Dir’is
also changed.
0 1 0
30 Org Torque Ratio : This parameter can be used only when ‘Origin Method’ is
‘3’. To set the maximum torque value to stop the motor with
some material(wall)
% 10 100 50
31 Pos. Error Overflow Limit : Acts to protect the motor and the drive. While the motor stops
and is set to Servo ON, when ‘Position Error’ is greater than
this setting value, this mode generates an alarm to stop a flow
of electricity to the motor and then set it to Servo OF F. *2
pulse 1 +134,217,
727 5,000
32 Pos. Value Counting Method : To select the display type of ‘position’ value.
♦ 0 : When the position value is display in positive and
negative value together.
♦ 1 : When the position value is display only in pos itive
value. This type can be used in one direction
motioning.
0 1 0
*1 It can be applied over the Firmware version of 08.13.045.1
*2 It can be applied over the Firmware version of 06.03.043.10
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72 Appendix
Appendix
Option for RS-485 Communication
■ RS485 Converter : Common
Available to communicate between the PC and the drive. One module per multi -drop
link is required.
Type Item Max comm. Speed [bps] External Power
RS485 to RS232 FAS-RCR 115,200 No need (5~24VDC optional)
FAS-RCR
■ RS232 Connection Cable for FAS-RCR : Common
Universal DB-9 male-female type cable is used.
Item Length
CGNR-C-1R8F 1.8m
CGNR-C-003F 3m
CGNR-C-005F 5m
For more information wiring diagram and connector, refer to 「10. Communication Function」.
■ RS-485 Connection Cable : Ezi-SERVO-PR only
Universal RJ-45 (STP:CAT5E category) straight type cable is used.
Item Length
CGNR-R-0R6F 60cm
CGNR-R-001F 100cm
CGNR-R-1R5F 150cm
CGNR-R-002F 200cm
CGNR-R-003F 300cm
CGNR-R-005F 500cm
For more information wiring diagram and connector, refer to 「11. Communication Function」.
For cabling position, refer to ⑤ of 「5.2 Controller Configuration」.
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73 Appendix
■ RS-485 Connection Cable : Ezi-SERVO-PR-MI only
For more information wiring diagram and connector, refer to 「11. Communication Function」.
Item Length
CGNA-R-0R5F 50cm
CGNA-R-001F 100cm
CGNA-R-1R5F 150cm
CGNA-R-002F 200cm
CGNA-R-003F 300cm
CGNA-R-005F 500cm
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74 Appendix
Option for Interface Board : Ezi-SERVO-PR only
■ Terminal Block
■ Extension cable for Interface Board
Available to extend the distance between the terminal block board and the drive.
The cable connection is 1:1 straight type.
Use Item Specification Maker
Terminal Block
connector Connector DB-26 male type
Drive
connector(CN1)
Connector Housing
Backshell
10126-30000VE
10320-52AO-008
3M
3M
Type Item
Interface (Terminal
Block) Board
TB-Plus
No. of
CN1
Signal
name
Signal name of
TB-Plus
1 Limit+ L+
2 Limit- L-
3 Origin ORI
4 IN1 I1
5 IN6 I6
6 IN7 I7
14 IN2 I2
15 IN3 I3
16 IN4 I4
17 IN5 I5
18 IN8 I8
19 IN9 I9
No. of
CN1
Signal
name
Signal name of
TB- Plus
7 COMP CO
8 OUT1 O1
9 OUT2 O2
10 OUT3 O3
11 OUT4 O4
12 OUT5 O5
13 OUT6 O6
20 OUT7 O7
21 OUT8 O8
22 OUT9 O9
23 Brake+ B+
24 Brake- B-
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75 Appendix
Option for Motor Drive : Ezi-SERVO-PR only
■ Cable for Input/Output Signal
Available to connect between Control S ystem and Ezi-SERVO Plus-R.
Refer to ① of 「5.2 Controller Configuration」.
■ Cable for Power
Available to connect between Power and Ezi-SERVO Plus-R.
Next is for 86mm drive.
Refer to ④ of 「5.2 Controller Configuration」.
■ Extension Cable for Motor
Available to extended connection between motor and Ezi -SERVO Plus-R.
Next is for 86mm drive.
Refer to ③ of 「5.2 Controller Configuration」.
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76 Appendix
Wiring Diagram
Drive Connector(CN3) Cable Connection
Motor Connector
Pin Layout Pin No. Pin No. Pin Layout
1
1
2 2
3 3
4 4
Connector Specification
Item Specification Maker
Housing 5557-04 MOLEX
Terminal 5556 MOLEX
■ Extension cable for Encoder
Available to extend the distance between the encoder and Ezi-SERVO Plus-R.
Refer to ② of 「5.2 Controller Configuration」.
Wiring Diagram
Drive Connector(CN2) Cable Connection
Motor Connector
Pin Layout Pin No. Pin No. Pin Layout
1 1
2 2
3 3
4 4
5 5
6 6
7 7
8 8
9 9
Connector Specification
Type Item Specification Maker
Drive Connector (CN2) Housing
Terminal
51353-100
56134-9000
MOLEX
MOLEX
Motor Connector Housing
Terminal
SMP-09V-NC
SHF-001T-0.8BS
JST
JST
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77 Appendix
■ Connector for cabling
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78 Appendix
Option for Motor Drive : Ezi-SERVO-PR-MI only
■ Cable for Input/Output Signal
Available to connect between Control S ystem and Ezi-SERVO-PR-MI.
Refer to ① of 「5.2 Controller Configuration」.
■ Cable for Power
Available to connect between Power and Ezi -SERVO-PR-MI.
Refer to ④ of 「5.2 Controller Configuration」.
■ Extension Cable for Motor
Available to extended connection between motor and Ezi -SERVO-PR-MI.
Refer to ③ of 「5.2 Controller Configuration」.
■ Extension cable for Encoder
Available to extend the distance between the encoder and Ezi -SERVO-PR-MI.
Refer to ② of 「5.2 Controller Configuration」.
■ Connector for cabling These connectors are serviced together with Ezi -SERVO-PR-MI except when purchasing
Option cables.
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79 Appendix
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80 Appendix
ⓒ Copyright 2008 FASTECH Co.,Ltd.
All Rights Reserved. June 20, 2013 Rev.08.06.15
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